﻿#ifndef COVERAGE_PLAN_H
#define COVERAGE_PLAN_H
#include <QGeoCoordinate>
#include <iostream>
#include <vector>
#include <algorithm>
#include <queue>
#include <QDebug>
#include "Point.h"

std::vector<GSLAM::Point3d> ploy_to_path(std::vector<GSLAM::Point3d> poly, GSLAM::Point3d landing_point, double gap, double angle = 0);
double get_gap_from_camera_overlap(double image_focal = 3000, double image_width = 4000,double fly_height = 100.0,double overlap = 0.7);
std::vector<GSLAM::Point3d> get_local_map(std::vector<GSLAM::Point3d> poly, GSLAM::Point3d origin);
std::vector<double> get_bounding_box(std::vector<GSLAM::Point3d> poly);
#endif

